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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
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<div class="title">pcl::FrustumCulling&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_frustum_culling.html" title="FrustumCulling filters points inside a frustum given by pose and field of view of the camera.">FrustumCulling</a> filters points inside a frustum given by pose and field of view of the camera.  
 <a href="classpcl_1_1_frustum_culling.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="frustum__culling_8h_source.html">frustum_culling.h</a>&gt;</code></p>
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类 pcl::FrustumCulling&lt; PointT &gt; 继承关系图:</div>
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Public 类型</h2></td></tr>
<tr class="memitem:a4eabf9548cd79e5b9a83ed1c2f2b013b"><td class="memItemLeft" align="right" valign="top"><a id="a4eabf9548cd79e5b9a83ed1c2f2b013b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_frustum_culling.html">FrustumCulling</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a4eabf9548cd79e5b9a83ed1c2f2b013b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a838c79ad0551510f610c94f3e2478d30"><td class="memItemLeft" align="right" valign="top"><a id="a838c79ad0551510f610c94f3e2478d30"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_frustum_culling.html">FrustumCulling</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a9e4dfee8631e86f927c8e2782f00c607"><td class="memItemLeft" align="right" valign="top"><a id="a9e4dfee8631e86f927c8e2782f00c607"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>FrustumCulling</b> (bool extract_removed_indices=false)</td></tr>
<tr class="separator:a9e4dfee8631e86f927c8e2782f00c607"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae22a939225ebbe244fcca8712133fcf3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">setCameraPose</a> (const Eigen::Matrix4f &amp;camera_pose)</td></tr>
<tr class="memdesc:ae22a939225ebbe244fcca8712133fcf3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the pose of the camera w.r.t the origin  <a href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">更多...</a><br /></td></tr>
<tr class="separator:ae22a939225ebbe244fcca8712133fcf3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4393312421ab88fba3db97ac03edf8f"><td class="memItemLeft" align="right" valign="top"><a id="ad4393312421ab88fba3db97ac03edf8f"></a>
Eigen::Matrix4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#ad4393312421ab88fba3db97ac03edf8f">getCameraPose</a> () const</td></tr>
<tr class="memdesc:ad4393312421ab88fba3db97ac03edf8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the pose of the camera w.r.t the origin <br /></td></tr>
<tr class="separator:ad4393312421ab88fba3db97ac03edf8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d63f4dd03d08f8d5f326cb3f6969ffd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">setHorizontalFOV</a> (float hfov)</td></tr>
<tr class="memdesc:a8d63f4dd03d08f8d5f326cb3f6969ffd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the horizontal field of view for the camera in degrees  <a href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">更多...</a><br /></td></tr>
<tr class="separator:a8d63f4dd03d08f8d5f326cb3f6969ffd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33a1797ff12e766fa6082e9cc98410d3"><td class="memItemLeft" align="right" valign="top"><a id="a33a1797ff12e766fa6082e9cc98410d3"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a33a1797ff12e766fa6082e9cc98410d3">getHorizontalFOV</a> () const</td></tr>
<tr class="memdesc:a33a1797ff12e766fa6082e9cc98410d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the horizontal field of view for the camera in degrees <br /></td></tr>
<tr class="separator:a33a1797ff12e766fa6082e9cc98410d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a60bf9eb93e9af3229b62c1ccc1bda218"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">setVerticalFOV</a> (float vfov)</td></tr>
<tr class="memdesc:a60bf9eb93e9af3229b62c1ccc1bda218"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the vertical field of view for the camera in degrees  <a href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">更多...</a><br /></td></tr>
<tr class="separator:a60bf9eb93e9af3229b62c1ccc1bda218"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a032da37b9053f2f9bda57d4d5ebe3171"><td class="memItemLeft" align="right" valign="top"><a id="a032da37b9053f2f9bda57d4d5ebe3171"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a032da37b9053f2f9bda57d4d5ebe3171">getVerticalFOV</a> () const</td></tr>
<tr class="memdesc:a032da37b9053f2f9bda57d4d5ebe3171"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the vertical field of view for the camera in degrees <br /></td></tr>
<tr class="separator:a032da37b9053f2f9bda57d4d5ebe3171"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42b65e698fe639177356b69017b3dfa4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">setNearPlaneDistance</a> (float np_dist)</td></tr>
<tr class="memdesc:a42b65e698fe639177356b69017b3dfa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the near plane distance  <a href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">更多...</a><br /></td></tr>
<tr class="separator:a42b65e698fe639177356b69017b3dfa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a13588c4853b4cd8ecb200df65480f62f"><td class="memItemLeft" align="right" valign="top"><a id="a13588c4853b4cd8ecb200df65480f62f"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a13588c4853b4cd8ecb200df65480f62f">getNearPlaneDistance</a> () const</td></tr>
<tr class="memdesc:a13588c4853b4cd8ecb200df65480f62f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the near plane distance. <br /></td></tr>
<tr class="separator:a13588c4853b4cd8ecb200df65480f62f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ae07e7fc9e66ca72b15655a0317183d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">setFarPlaneDistance</a> (float fp_dist)</td></tr>
<tr class="memdesc:a8ae07e7fc9e66ca72b15655a0317183d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the far plane distance  <a href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">更多...</a><br /></td></tr>
<tr class="separator:a8ae07e7fc9e66ca72b15655a0317183d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe91a0b063a5f8db2e04bd9145b70eea"><td class="memItemLeft" align="right" valign="top"><a id="abe91a0b063a5f8db2e04bd9145b70eea"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#abe91a0b063a5f8db2e04bd9145b70eea">getFarPlaneDistance</a> () const</td></tr>
<tr class="memdesc:abe91a0b063a5f8db2e04bd9145b70eea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the far plane distance <br /></td></tr>
<tr class="separator:abe91a0b063a5f8db2e04bd9145b70eea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">FilterIndices</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">更多...</a><br /></td></tr>
<tr class="separator:a72c8696f1bc2e4a6e92172371a45d592 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="ad2713c94212077eed36018718a6a11f2"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#ad2713c94212077eed36018718a6a11f2">~FilterIndices</a> ()</td></tr>
<tr class="memdesc:ad2713c94212077eed36018718a6a11f2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty virtual destructor. <br /></td></tr>
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<tr class="memitem:a007e834bf929cb9da0aabb17036bff31 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a007e834bf929cb9da0aabb17036bff31"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>filter</b> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="separator:a007e834bf929cb9da0aabb17036bff31 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#abbbfa3686df4bdb6cd333a182180970d">filter</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered point cloud indices.  <a href="classpcl_1_1_filter_indices.html#abbbfa3686df4bdb6cd333a182180970d">更多...</a><br /></td></tr>
<tr class="separator:abbbfa3686df4bdb6cd333a182180970d inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">setNegative</a> (bool negative)</td></tr>
<tr class="memdesc:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the regular conditions for points filtering should apply, or the inverted conditions.  <a href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">更多...</a><br /></td></tr>
<tr class="separator:a8da0b86892188e59b0deb8d420a682bb inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#ae596b8085f72489035f63aa26904f2b3">getNegative</a> ()</td></tr>
<tr class="memdesc:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the regular conditions for points filtering should apply, or the inverted conditions.  <a href="classpcl_1_1_filter_indices.html#ae596b8085f72489035f63aa26904f2b3">更多...</a><br /></td></tr>
<tr class="separator:ae596b8085f72489035f63aa26904f2b3 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">setKeepOrganized</a> (bool keep_organized)</td></tr>
<tr class="memdesc:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the filtered points should be kept and set to the value given through <em>setUserFilterValue</em> (default: NaN), or removed from the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, thus potentially breaking its organized structure.  <a href="classpcl_1_1_filter_indices.html#a21eb00357056c0cc432cd03afa84d08c">更多...</a><br /></td></tr>
<tr class="separator:a21eb00357056c0cc432cd03afa84d08c inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a9448e925e369d96824a1b333903ddfe2">getKeepOrganized</a> ()</td></tr>
<tr class="memdesc:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the filtered points should be kept and set to the value given through <em>setUserFilterValue</em> (default = NaN), or removed from the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>, thus potentially breaking its organized structure.  <a href="classpcl_1_1_filter_indices.html#a9448e925e369d96824a1b333903ddfe2">更多...</a><br /></td></tr>
<tr class="separator:a9448e925e369d96824a1b333903ddfe2 inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a9456a457b18c28b8dd6b07e970c16eba">setUserFilterValue</a> (float value)</td></tr>
<tr class="memdesc:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with <em>setKeepOrganized</em> ().  <a href="classpcl_1_1_filter_indices.html#a9456a457b18c28b8dd6b07e970c16eba">更多...</a><br /></td></tr>
<tr class="separator:a9456a457b18c28b8dd6b07e970c16eba inherit pub_methods_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
<tr class="separator:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
<tr class="separator:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ae7eb1b86fd89d9b82f30288eaa178211"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:ae7eb1b86fd89d9b82f30288eaa178211"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sample of point indices into a separate <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>  <a href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">更多...</a><br /></td></tr>
<tr class="separator:ae7eb1b86fd89d9b82f30288eaa178211"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8bba19e59416470ad52ac65056437a8a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a8bba19e59416470ad52ac65056437a8a">applyFilter</a> (std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a8bba19e59416470ad52ac65056437a8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sample of point indices  <a href="classpcl_1_1_frustum_culling.html#a8bba19e59416470ad52ac65056437a8a">更多...</a><br /></td></tr>
<tr class="separator:a8bba19e59416470ad52ac65056437a8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:af96f12a4d5ed960d61c411f2398aefe0"><td class="memItemLeft" align="right" valign="top"><a id="af96f12a4d5ed960d61c411f2398aefe0"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:af96f12a4d5ed960d61c411f2398aefe0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf7535d1c0eb0e16b22ace181386e111"><td class="memItemLeft" align="right" valign="top"><a id="abf7535d1c0eb0e16b22ace181386e111"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:abf7535d1c0eb0e16b22ace181386e111"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab10ee401876e917739f385d165df332b"><td class="memItemLeft" align="right" valign="top"><a id="ab10ee401876e917739f385d165df332b"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ab10ee401876e917739f385d165df332b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a41d54a0e33b0f885625ebfb87cbd6f61"><td class="memItemLeft" align="right" valign="top"><a id="a41d54a0e33b0f885625ebfb87cbd6f61"></a>
Eigen::Matrix4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a></td></tr>
<tr class="memdesc:a41d54a0e33b0f885625ebfb87cbd6f61"><td class="mdescLeft">&#160;</td><td class="mdescRight">The camera pose <br /></td></tr>
<tr class="separator:a41d54a0e33b0f885625ebfb87cbd6f61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e51630af54f8a8e286b86abdd7d19bc"><td class="memItemLeft" align="right" valign="top"><a id="a1e51630af54f8a8e286b86abdd7d19bc"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a></td></tr>
<tr class="memdesc:a1e51630af54f8a8e286b86abdd7d19bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Horizontal field of view <br /></td></tr>
<tr class="separator:a1e51630af54f8a8e286b86abdd7d19bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb383a12280360bf6b3306c1446ccd5c"><td class="memItemLeft" align="right" valign="top"><a id="adb383a12280360bf6b3306c1446ccd5c"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a></td></tr>
<tr class="memdesc:adb383a12280360bf6b3306c1446ccd5c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vertical field of view <br /></td></tr>
<tr class="separator:adb383a12280360bf6b3306c1446ccd5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae29b9fa3f16ef0efa31b2bc937c8d3c1"><td class="memItemLeft" align="right" valign="top"><a id="ae29b9fa3f16ef0efa31b2bc937c8d3c1"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a></td></tr>
<tr class="memdesc:ae29b9fa3f16ef0efa31b2bc937c8d3c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Near plane distance <br /></td></tr>
<tr class="separator:ae29b9fa3f16ef0efa31b2bc937c8d3c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c5064f0aa194603d524ad3399c8fe38"><td class="memItemLeft" align="right" valign="top"><a id="a3c5064f0aa194603d524ad3399c8fe38"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a></td></tr>
<tr class="memdesc:a3c5064f0aa194603d524ad3399c8fe38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Far plane distance <br /></td></tr>
<tr class="separator:a3c5064f0aa194603d524ad3399c8fe38"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter_indices"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter_indices')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter_indices.html">pcl::FilterIndices&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a97854d723ea58d2aa7706db0d086a90f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">negative_</a></td></tr>
<tr class="memdesc:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">False = normal filter behavior (default), true = inverted behavior. <br /></td></tr>
<tr class="separator:a97854d723ea58d2aa7706db0d086a90f inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a45e39a4237dfff1735294cacc243a918"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">keep_organized_</a></td></tr>
<tr class="memdesc:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">False = remove points (default), true = redefine points, keep structure. <br /></td></tr>
<tr class="separator:a45e39a4237dfff1735294cacc243a918 inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memItemLeft" align="right" valign="top"><a id="a009090d4cb34cb01d5906b3d7e12c5db"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a></td></tr>
<tr class="memdesc:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="mdescLeft">&#160;</td><td class="mdescRight">The user given value that the filtered point dimensions should be set to (default = NaN). <br /></td></tr>
<tr class="separator:a009090d4cb34cb01d5906b3d7e12c5db inherit pro_attribs_classpcl_1_1_filter_indices"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
<tr class="separator:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ad700c7ab56dc82ad8811b87e9f793751"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
<tr class="separator:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a77b899631add791703f5d615f085bede"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
<tr class="separator:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::FrustumCulling&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_frustum_culling.html" title="FrustumCulling filters points inside a frustum given by pose and field of view of the camera.">FrustumCulling</a> filters points inside a frustum given by pose and field of view of the camera. </p>
<p>Code example:</p>
<div class="fragment"><div class="line">pcl::PointCloud &lt;pcl::PointXYZ&gt;::Ptr source; </div>
<div class="line"><span class="comment">// .. read or fill the source cloud</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="classpcl_1_1_frustum_culling.html">pcl::FrustumCulling&lt;pcl::PointXYZ&gt;</a> fc;</div>
<div class="line">fc.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (source);</div>
<div class="line">fc.<a class="code" href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">setVerticalFOV</a> (45);</div>
<div class="line">fc.<a class="code" href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">setHorizontalFOV</a> (60);</div>
<div class="line">fc.<a class="code" href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">setNearPlaneDistance</a> (5.0);</div>
<div class="line">fc.<a class="code" href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">setFarPlaneDistance</a> (15);</div>
<div class="line"> </div>
<div class="line">Eigen::Matrix4f camera_pose;</div>
<div class="line"><span class="comment">// .. read or input the camera pose from a registration algorithm.</span></div>
<div class="line">fc.<a class="code" href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">setCameraPose</a> (camera_pose);</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;pcl::PointXYZ&gt;</a> target;</div>
<div class="line">fc.filter (target);</div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html">pcl::FrustumCulling</a></div><div class="ttdoc">FrustumCulling filters points inside a frustum given by pose and field of view of the camera.</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a42b65e698fe639177356b69017b3dfa4"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">pcl::FrustumCulling::setNearPlaneDistance</a></div><div class="ttdeci">void setNearPlaneDistance(float np_dist)</div><div class="ttdoc">Set the near plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a60bf9eb93e9af3229b62c1ccc1bda218"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">pcl::FrustumCulling::setVerticalFOV</a></div><div class="ttdeci">void setVerticalFOV(float vfov)</div><div class="ttdoc">Set the vertical field of view for the camera in degrees</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a8ae07e7fc9e66ca72b15655a0317183d"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">pcl::FrustumCulling::setFarPlaneDistance</a></div><div class="ttdeci">void setFarPlaneDistance(float fp_dist)</div><div class="ttdoc">Set the far plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a8d63f4dd03d08f8d5f326cb3f6969ffd"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">pcl::FrustumCulling::setHorizontalFOV</a></div><div class="ttdeci">void setHorizontalFOV(float hfov)</div><div class="ttdoc">Set the horizontal field of view for the camera in degrees</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ae22a939225ebbe244fcca8712133fcf3"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">pcl::FrustumCulling::setCameraPose</a></div><div class="ttdeci">void setCameraPose(const Eigen::Matrix4f &amp;camera_pose)</div><div class="ttdoc">Set the pose of the camera w.r.t the origin</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
</div><!-- fragment --><dl class="section author"><dt>作者</dt><dd>Aravindhan K Krishnan </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ae7eb1b86fd89d9b82f30288eaa178211"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7eb1b86fd89d9b82f30288eaa178211">&#9670;&nbsp;</a></span>applyFilter() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_frustum_culling.html">pcl::FrustumCulling</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Sample of point indices into a separate <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant point cloud </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter_indices.html#afd98aa5b5e30e42d81ede249aada8fc9">pcl::FilterIndices&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">keep_organized_</a>)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">bool</span> temp = <a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">applyFilter</a> (indices);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a> = temp;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">copyPointCloud</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, output);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> rii = 0; rii &lt; <a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>-&gt;size (); ++rii)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt_to_remove = output.<a class="code" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> ((*<a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>)[rii]);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      pt_to_remove.x = pt_to_remove.y = pt_to_remove.z = <a class="code" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (<a class="code" href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">user_filter_value_</a>))</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">applyFilter</a> (indices);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">copyPointCloud</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, indices, output);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a77b899631add791703f5d615f085bede"><div class="ttname"><a href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">pcl::Filter::extract_removed_indices_</a></div><div class="ttdeci">bool extract_removed_indices_</div><div class="ttdoc">Set to true if we want to return the indices of the removed points.</div><div class="ttdef"><b>Definition:</b> filter.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ae83ccb695ed263cfc64c224210a31936"><div class="ttname"><a href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">pcl::Filter::removed_indices_</a></div><div class="ttdeci">IndicesPtr removed_indices_</div><div class="ttdoc">Indices of the points that are removed</div><div class="ttdef"><b>Definition:</b> filter.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a009090d4cb34cb01d5906b3d7e12c5db"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a009090d4cb34cb01d5906b3d7e12c5db">pcl::FilterIndices::user_filter_value_</a></div><div class="ttdeci">float user_filter_value_</div><div class="ttdoc">The user given value that the filtered point dimensions should be set to (default = NaN).</div><div class="ttdef"><b>Definition:</b> filter_indices.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a45e39a4237dfff1735294cacc243a918"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a45e39a4237dfff1735294cacc243a918">pcl::FilterIndices::keep_organized_</a></div><div class="ttdeci">bool keep_organized_</div><div class="ttdoc">False = remove points (default), true = redefine points, keep structure.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ae7eb1b86fd89d9b82f30288eaa178211"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">pcl::FrustumCulling::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> frustum_culling.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a1155fe4ba5cdc7e83cb72159a4ea02dc"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">pcl::PointCloud::at</a></div><div class="ttdeci">const PointT &amp; at(int column, int row) const</div><div class="ttdoc">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
</div><!-- fragment -->
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<h2 class="memtitle"><span class="permalink"><a href="#a8bba19e59416470ad52ac65056437a8a">&#9670;&nbsp;</a></span>applyFilter() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_frustum_culling.html">pcl::FrustumCulling</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::applyFilter </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Sample of point indices </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">indices</td><td>the resultant point cloud indices </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_filter_indices.html#a96adbc8e3d7a076cc00a938260160466">pcl::FilterIndices&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  Eigen::Vector4f pl_n; <span class="comment">// near plane </span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  Eigen::Vector4f pl_f; <span class="comment">// far plane</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  Eigen::Vector4f pl_t; <span class="comment">// top plane</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Vector4f pl_b; <span class="comment">// bottom plane</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  Eigen::Vector4f pl_r; <span class="comment">// right plane</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  Eigen::Vector4f pl_l; <span class="comment">// left plane</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  Eigen::Vector3f view = <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a>.block (0, 0, 3, 1);    <span class="comment">// view vector for the camera  - first column of the rotation matrix</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  Eigen::Vector3f up = <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a>.block (0, 1, 3, 1);      <span class="comment">// up vector for the camera    - second column of the rotation matix</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  Eigen::Vector3f right = <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a>.block (0, 2, 3, 1);   <span class="comment">// right vector for the camera - third column of the rotation matrix</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  Eigen::Vector3f T = <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a>.block (0, 3, 3, 1);       <span class="comment">// The (X, Y, Z) position of the camera w.r.t origin</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">float</span> vfov_rad = float (<a class="code" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a> * M_PI / 180); <span class="comment">// degrees to radians</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">float</span> hfov_rad = float (<a class="code" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a> * M_PI / 180); <span class="comment">// degrees to radians</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">float</span> np_h = float (2 * tan (vfov_rad / 2) * <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a>);  <span class="comment">// near plane height</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">float</span> np_w = float (2 * tan (hfov_rad / 2) * <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a>);  <span class="comment">// near plane width</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">float</span> fp_h = float (2 * tan (vfov_rad / 2) * <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a>);    <span class="comment">// far plane height</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">float</span> fp_w = float (2 * tan (hfov_rad / 2) * <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a>);    <span class="comment">// far plane width</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  Eigen::Vector3f fp_c (T + view * <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a>);                 <span class="comment">// far plane center</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  Eigen::Vector3f fp_tl (fp_c + (up * fp_h / 2) - (right * fp_w / 2));  <span class="comment">// Top left corner of the far plane</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  Eigen::Vector3f fp_tr (fp_c + (up * fp_h / 2) + (right * fp_w / 2));  <span class="comment">// Top right corner of the far plane</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  Eigen::Vector3f fp_bl (fp_c - (up * fp_h / 2) - (right * fp_w / 2));  <span class="comment">// Bottom left corner of the far plane</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  Eigen::Vector3f fp_br (fp_c - (up * fp_h / 2) + (right * fp_w / 2));  <span class="comment">// Bottom right corner of the far plane</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  Eigen::Vector3f np_c (T + view * <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a>);                   <span class="comment">// near plane center</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">//Eigen::Vector3f np_tl = np_c + (up * np_h/2) - (right * np_w/2); // Top left corner of the near plane</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  Eigen::Vector3f np_tr (np_c + (up * np_h / 2) + (right * np_w / 2));   <span class="comment">// Top right corner of the near plane</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  Eigen::Vector3f np_bl (np_c - (up * np_h / 2) - (right * np_w / 2));   <span class="comment">// Bottom left corner of the near plane</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  Eigen::Vector3f np_br (np_c - (up * np_h / 2) + (right * np_w / 2));   <span class="comment">// Bottom right corner of the near plane</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  pl_f.block (0, 0, 3, 1).matrix () = (fp_bl - fp_br).cross (fp_tr - fp_br);   <span class="comment">// Far plane equation - cross product of the </span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  pl_f (3) = -fp_c.dot (pl_f.block (0, 0, 3, 1));                    <span class="comment">// perpendicular edges of the far plane</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  pl_n.block (0, 0, 3, 1).matrix () = (np_tr - np_br).cross (np_bl - np_br);   <span class="comment">// Near plane equation - cross product of the </span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  pl_n (3) = -np_c.dot (pl_n.block (0, 0, 3, 1));                    <span class="comment">// perpendicular edges of the far plane</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  Eigen::Vector3f a (fp_bl - T);    <span class="comment">// Vector connecting the camera and far plane bottom left</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  Eigen::Vector3f b (fp_br - T);    <span class="comment">// Vector connecting the camera and far plane bottom right</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  Eigen::Vector3f c (fp_tr - T);    <span class="comment">// Vector connecting the camera and far plane top right</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  Eigen::Vector3f d (fp_tl - T);    <span class="comment">// Vector connecting the camera and far plane top left</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">//                   Frustum and the vectors a, b, c and d. T is the position of the camera</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">//                             _________</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">//                           /|       . |</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">//                       d  / |   c .   |</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">//                         /  | __._____| </span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="comment">//                        /  /  .      .</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="comment">//                 a &lt;---/-/  .    .</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">//                      / / .   .  b</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">//                     /   .</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="comment">//                     . </span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">//                   T</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  pl_r.block (0, 0, 3, 1).matrix () = b.cross (c);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  pl_l.block (0, 0, 3, 1).matrix () = d.cross (a);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  pl_t.block (0, 0, 3, 1).matrix () = c.cross (d);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  pl_b.block (0, 0, 3, 1).matrix () = a.cross (b);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  pl_r (3) = -T.dot (pl_r.block (0, 0, 3, 1));</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  pl_l (3) = -T.dot (pl_l.block (0, 0, 3, 1));</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  pl_t (3) = -T.dot (pl_t.block (0, 0, 3, 1));</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  pl_b (3) = -T.dot (pl_b.block (0, 0, 3, 1));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>-&gt;resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  indices.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">size_t</span> indices_ctr = 0;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordtype">size_t</span> removed_ctr = 0;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); i++) </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">int</span> idx = <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;at (i);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    Eigen::Vector4f pt (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[idx].x,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[idx].y,</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[idx].z,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                        1.0f);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">bool</span> is_in_fov = (pt.dot (pl_l) &lt;= 0) &amp;&amp; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                     (pt.dot (pl_r) &lt;= 0) &amp;&amp;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                     (pt.dot (pl_t) &lt;= 0) &amp;&amp; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                     (pt.dot (pl_b) &lt;= 0) &amp;&amp; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                     (pt.dot (pl_f) &lt;= 0) &amp;&amp;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                     (pt.dot (pl_n) &lt;= 0);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">if</span> (is_in_fov ^ <a class="code" href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">negative_</a>)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      indices[indices_ctr++] = idx;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a>)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      (*removed_indices_)[removed_ctr++] = idx;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  indices.resize (indices_ctr);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <a class="code" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a>-&gt;resize (removed_ctr);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a97854d723ea58d2aa7706db0d086a90f"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a97854d723ea58d2aa7706db0d086a90f">pcl::FilterIndices::negative_</a></div><div class="ttdeci">bool negative_</div><div class="ttdoc">False = normal filter behavior (default), true = inverted behavior.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a1e51630af54f8a8e286b86abdd7d19bc"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">pcl::FrustumCulling::hfov_</a></div><div class="ttdeci">float hfov_</div><div class="ttdoc">Horizontal field of view</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a3c5064f0aa194603d524ad3399c8fe38"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">pcl::FrustumCulling::fp_dist_</a></div><div class="ttdeci">float fp_dist_</div><div class="ttdoc">Far plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a41d54a0e33b0f885625ebfb87cbd6f61"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">pcl::FrustumCulling::camera_pose_</a></div><div class="ttdeci">Eigen::Matrix4f camera_pose_</div><div class="ttdoc">The camera pose</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_adb383a12280360bf6b3306c1446ccd5c"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">pcl::FrustumCulling::vfov_</a></div><div class="ttdeci">float vfov_</div><div class="ttdoc">Vertical field of view</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ae29b9fa3f16ef0efa31b2bc937c8d3c1"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">pcl::FrustumCulling::np_dist_</a></div><div class="ttdeci">float np_dist_</div><div class="ttdoc">Near plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae22a939225ebbe244fcca8712133fcf3">&#9670;&nbsp;</a></span>setCameraPose()</h2>

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          <td class="paramtype">const Eigen::Matrix4f &amp;&#160;</td>
          <td class="paramname"><em>camera_pose</em></td><td>)</td>
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<p>Set the pose of the camera w.r.t the origin </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">camera_pose</td><td>the camera pose</td></tr>
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<p>Note: This assumes a coordinate system where X is forward, Y is up, and Z is right. To convert from the traditional camera coordinate system (X right, Y down, Z forward), one can use:</p>
<div class="fragment"><div class="line">Eigen::Matrix4f pose_orig = <span class="comment">//pose in camera coordinates</span></div>
<div class="line">Eigen::Matrix4f cam2robot;</div>
<div class="line">cam2robot &lt;&lt; 0, 0, 1, 0</div>
<div class="line">             0,-1, 0, 0</div>
<div class="line">             1, 0, 0, 0</div>
<div class="line">             0, 0, 0, 1;</div>
<div class="line">Eigen::Matrix4f pose_new = pose_orig * cam2robot;</div>
<div class="line">fc.setCameraPose (pose_new);</div>
</div><!-- fragment --> <div class="fragment"><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a> = camera_pose;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8ae07e7fc9e66ca72b15655a0317183d">&#9670;&nbsp;</a></span>setFarPlaneDistance()</h2>

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<p>Set the far plane distance </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">fp_dist</td><td>the far plane distance </td></tr>
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<div class="fragment"><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a> = fp_dist;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8d63f4dd03d08f8d5f326cb3f6969ffd">&#9670;&nbsp;</a></span>setHorizontalFOV()</h2>

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<p>Set the horizontal field of view for the camera in degrees </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">hfov</td><td>the field of view </td></tr>
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<div class="fragment"><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a> = hfov;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a42b65e698fe639177356b69017b3dfa4">&#9670;&nbsp;</a></span>setNearPlaneDistance()</h2>

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<p>Set the near plane distance </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">np_dist</td><td>the near plane distance </td></tr>
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<div class="fragment"><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a> = np_dist;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a60bf9eb93e9af3229b62c1ccc1bda218">&#9670;&nbsp;</a></span>setVerticalFOV()</h2>

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template&lt;typename PointT &gt; </div>
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          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vfov</em></td><td>)</td>
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<p>Set the vertical field of view for the camera in degrees </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">vfov</td><td>the field of view </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a> = vfov;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="frustum__culling_8h_source.html">frustum_culling.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="frustum__culling_8hpp_source.html">frustum_culling.hpp</a></li>
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